You wont find a single IC solution for that that operates as a regulator with a smooth output. At 21V a linear solution would have to dissipate 30W, which is the domain of beefy power transistors on a large heatsink (+ of course something to control them)
You need some sort of buck converter, rated for 10A out + safety margin and for the max. transient input voltage it could see, with good enough filtering to reduce the ripple to your applications requirements. With a max sustained input voltage of 21V, it needs to be rated for >50V in, more for an automotive or marine application, (or provide heavy duty unidirectional TVS diode clamping for transients with a working voltage >21V and clamping voltage <50V). Its desirable for it to have synchronous rectification to minimize voltage drop, otherwise even with a beefy Schottky output diode, you'll loose at least half a volt Vin => Vout drop once the the regulator drops out of regulation with decreasing input. If you buy one 'off the shelf', it will be a fairly large and moderately expensive module with a sizable heatsink, and certainly not a single chip. Since you want to use it as a battery charger look for a variable output voltage one with an adjustable current limit, and an indicator LED for whether its in CC or CV mode.